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episodes/episode_000080/meta.json

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+{
+  "task": "sample",
+  "original_episode": "episode_29",
+  "num_steps": 326,
+  "num_meta_actions": 4,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_grasp_wood",
+    "3_move_to_container",
+    "4_place_wood_to_container"
+  ]
+}

episodes/episode_000080/meta_instructions.txt

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+Turn left and  then move forward to the front of the small mound of dirt near the center of the sandbox, being careful not to hit any obstacles.
+Grasp the sampling block located at the top of the small earth push; while grasping the block, the block moves to the midpoint of the slope on the far side of the flat mound; the cart backs up, then turns left around the mound and right to move in front of the sampling block, completing the grasp and then lifting it, being careful not to grasp it too tightly or Be careful not to grip too tightly or too loosely.
+Walk backward from the sampling point, then turn left in place and go straight, followed by a right turn until the container is detected, then move to the container where the sample was placed.
+Place the sample wood block into the container,being careful not to place too fast or slowly.

episodes/episode_000082/meta.json

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+{
+  "task": "sample",
+  "original_episode": "episode_30",
+  "num_steps": 282,
+  "num_meta_actions": 4,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_grasp_bottle",
+    "3_move_to_container",
+    "4_place_bottle_to_container"
+  ]
+}

episodes/episode_000082/meta_instructions.txt

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+Move forward to the front of the sampling point on the flat mound of dirt located in the center of the sandbox, taking care not to hit any obstacles.
+Grab the sampling water bottle located at the midpoint of the left side of the flat mound; while grabbing the sampling water bottle, the sampling water bottle moves to the top of the small, far-tested mound; the cart backs up, then turns right to go around the flat mound, turns left to move to the front of the sampling water bottle, completes the grab, and then lifts the sampling water bottle. Be careful not to grip too tightly or too loosely.
+Walk backward from the sampling point, then turn right in place to go around the small mound of dirt, then turn left until the container is detected, then move to the container where the sample was placed.
+Place the sample water bottle into the container,being careful not to place too fast or slowly.